CN111746552A - Driver assistance system and control method thereof - Google Patents

Driver assistance system and control method thereof Download PDF

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Publication number
CN111746552A
CN111746552A CN202010206787.2A CN202010206787A CN111746552A CN 111746552 A CN111746552 A CN 111746552A CN 202010206787 A CN202010206787 A CN 202010206787A CN 111746552 A CN111746552 A CN 111746552A
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China
Prior art keywords
vehicle
warning
warning point
assistance system
hands
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Granted
Application number
CN202010206787.2A
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Chinese (zh)
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CN111746552B (en
Inventor
金亨泰
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Halla Creedong Electronics Co ltd
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Mando Corp
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
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    • G01S2013/93271—Sensor installation details in the front of the vehicles

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

A driver assistance system and a control method thereof. The driver assistance system according to the present disclosure may adjust the hands-off warning point. To this end, a driver assistance system according to an embodiment comprises: a camera configured to acquire image data by photographing an outside of a vehicle; a radar configured to acquire radar data regarding an object outside the vehicle; a sensor configured to acquire behavior data of a vehicle; a hands-off detector configured to detect that a driver hands off from a steering wheel; and a controller configured to determine a driving condition of the vehicle by processing the image data acquired by the camera, the radar data acquired by the radar, and the behavior data acquired by the sensor, and determine a hands-off warning point based on the driving condition when hands-off is sensed by the hands-off detector.

Description

Driver assistance system and control method thereof
Technical Field
The invention relates to a driver assistance system and a control method thereof.
Background
Driver Assistance Systems (ADAS) are systems that assist the driver in driving. In particular, a steering assist system, such as a lane keeping assist system or a lane following assist system, identifies the lane in which the vehicle is traveling to maintain the lane without requiring steering wheel manipulation by the driver.
However, when the driver does not touch the steering wheel, safety may be reduced. Therefore, when hands-off is sensed from the steering wheel, the conventional technique warns the driver at a predetermined time.
However, when a warning regarding hands-off frequently occurs regardless of driving conditions, the driver's satisfaction may be reduced.
Disclosure of Invention
The present invention provides a driver assistance system and a control method thereof, which can provide a warning message for hands-off to a driver by adjusting a hands-off warning point according to driving conditions.
As a technical means for achieving the above technical problem, a driver assistance system according to an embodiment includes: a camera configured to acquire image data by photographing an outside of a vehicle; a radar configured to acquire radar data regarding an object outside the vehicle; a sensor configured to acquire behavior data of a vehicle; a hands-off detector configured to detect that a driver hands off from a steering wheel; and a controller configured to determine a driving condition of the vehicle by processing the image data acquired by the camera, the radar data acquired by the radar, and the behavior data acquired by the sensor, and determine a hands-off warning point based on the driving condition when hands-off is sensed by the hands-off detector.
The controller may determine whether the driving condition satisfies a warning point delay condition, may determine a delay time when the warning point delay condition is satisfied, and may determine a time point delayed by the delay time from a predetermined reference warning point as a hands-off warning point.
The controller may determine that the warning point delay condition is satisfied when the vehicle is located within a predetermined distance from a center of the lane, the reliability of the two lanes is greater than a predetermined reliability, the risk of collision with the external object is less than a predetermined risk, and the curvature of the road ahead is less than a predetermined curvature.
The controller may adjust the delay time based on at least one of a current speed and a distance to the external object.
The controller may determine whether the driving condition satisfies a warning point shortening condition, may determine a shortening time when the warning point shortening condition is satisfied, and may determine a time point that is earlier than a predetermined reference warning point by the shortening time as a hands-off warning point.
The controller determines that the warning point shortening condition is satisfied in at least one of: the method includes the steps of determining a lane center of the vehicle, determining a reliability of at least one of the two lanes when the vehicle is located outside a predetermined distance from the lane center, determining a reliability of at least one of the two lanes when the reliability is less than a predetermined reliability, determining a risk of collision with an external object is greater than a predetermined risk, determining a curvature of a road ahead exceeds a predetermined curvature, and determining a behavior data of the vehicle is outside a predetermined safety range.
The controller may determine the shortening time differently for each warning point shortening condition.
The driver assistance system according to the embodiment further includes a warning device for outputting a warning message, and the controller may control the warning device to output a hands-off warning message at the determined warning point. The warning device may output a warning message including at least one of text, voice, and image.
The behavior data may include a yaw rate variation, a lateral acceleration variation, and a longitudinal acceleration variation.
According to an exemplary embodiment, a method of controlling a driver assistance system may comprise the steps of: photographing an exterior of a vehicle to acquire image data; acquiring radar data regarding an object external to the vehicle; acquiring behavior data of a vehicle; detecting a driver releasing his hands from a steering wheel; determining a driving condition of the vehicle by processing the image data, the radar data, and the behavior data; and determining a hands-off warning point based on the driving condition when hands-off is sensed.
The step of determining a hands-off warning point may comprise: determining whether the driving condition satisfies a warning point delay condition; determining a delay time when a warning point delay condition is satisfied; and determining a time point delayed from a predetermined reference warning point by the delay time as a hands-off warning point.
The step of determining whether the driving condition satisfies the warning point delay condition may include: and determining that the warning point delay condition is satisfied when the vehicle is located within a predetermined distance from the center of the lane, the reliability of the two lanes is greater than a predetermined reliability, the risk of collision with an external object is less than a predetermined risk, and the curvature of the road ahead is less than a predetermined curvature.
The step of determining whether the driving condition satisfies the warning point delay condition may include: it is determined that the warning point delay condition is satisfied when the vehicle is located within a predetermined distance from the center of the lane, the reliability of the two lanes is greater than a predetermined reliability, the risk of collision with an external object is less than a predetermined risk, and the curvature of the road ahead is less than a predetermined curvature.
The step of determining the delay time may comprise: the delay time is adjusted based on at least one of a current speed and a distance to the external object.
The step of determining a hands-off warning point may comprise: determining whether the driving condition satisfies a warning point shortening condition; determining a shortening time when a warning point shortening condition is satisfied; and determining a time point that is earlier than a predetermined reference warning point by the shortening time as a hands-off warning point.
The step of determining whether the driving condition satisfies the warning point shortening condition may include: determining that the warning point shortening condition is satisfied in at least one of: the method includes the steps of determining a lane center of the vehicle, determining a reliability of at least one of the two lanes when the vehicle is located outside a predetermined distance from the lane center, determining a reliability of at least one of the two lanes when the reliability is less than a predetermined reliability, determining a risk of collision with an external object is greater than a predetermined risk, determining a curvature of a road ahead exceeds a predetermined curvature, and determining a behavior data of the vehicle is outside a predetermined safety range.
The step of determining the shortened time may comprise: the shortening time is determined differently for each warning point shortening condition.
The control method of the driver assistance system according to the further embodiment may further include: and outputting a hands-off warning message at the determined warning point.
The warning message may include at least one of text, voice, and image
The behavior data may include a yaw rate variation, a lateral acceleration variation, and a longitudinal acceleration variation.
According to the driver assistance system and the control method thereof of the present invention, a warning message regarding hands-off can be provided to the driver by adjusting the hands-off warning point according to the driving situation.
Therefore, driver satisfaction may also be increased and reliability of autonomous driving may be increased. In addition, the safety of driving can be improved.
Drawings
These and/or other aspects of the present invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a configuration of a vehicle according to an embodiment.
Fig. 2 shows a configuration of a driver assistance system according to an embodiment.
Fig. 3 shows a camera and a radar included in the driver assistance system according to an embodiment.
Fig. 4 and 5 are flowcharts illustrating a control method of the driver assistance system according to an exemplary embodiment.
Detailed Description
In the following description, like reference numerals refer to like elements throughout the specification. Well-known functions or constructions are not described in detail since they would obscure one or more exemplary embodiments in unnecessary detail. Terms such as "unit," "module," "member," and "block" may be embodied as hardware or software. According to embodiments, a plurality of "units", "modules", "members" and "blocks" may be implemented as a single component, or a single "unit", "module", "member" and "block" may include a plurality of components.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element, wherein indirect connection includes "coupling via a wireless communication network".
In addition, when a component "comprises" or "comprising" an element, the component may also comprise, but not exclude, other elements unless there is a specific description to the contrary.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these terms should not be taken to be limiting. These terms are only used to distinguish one element from another.
As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise.
An identification code is used for descriptive convenience and is not intended to show the order of the various steps. Unless the context clearly indicates otherwise, the various steps may be performed in an order different than that shown.
Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings.
Fig. 1 shows a configuration of a vehicle according to an embodiment.
As shown in fig. 1, a vehicle 1 includes an engine 10, a transmission 20, a brake device 30, and a steering device 40. The engine 10 includes a cylinder and a piston and can generate power to facilitate the running of the vehicle 1. The transmission 20 includes a plurality of gears, and can transmit power generated by the engine 10 to wheels. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 by friction with the wheels. The steering device 40 can change the traveling direction of the vehicle 1.
The vehicle 1 may include a plurality of electrical components. For example, the vehicle 1 includes an Engine Management System (EMS)11, a Transmission Control Unit (TCU)21, and an electronic brake control module 31, an Electronic Power Steering (EPS)41, a Body Control Module (BCM), and a Driver Assist System (DAS).
The engine management system 11 may control the engine 10 in response to an acceleration intention of the driver through an accelerator pedal or a request from the driver assistance system 100. For example, the engine management system 11 may control the torque of the engine 10.
The transmission control unit 21 may control the transmission 20 in response to a shift command by the driver through the shift lever and/or a running speed of the vehicle 1. For example, the transmission control unit 21 may adjust the speed change ratio from the engine 10 to the wheels.
The electronic brake control module 31 may control the braking device 30 in response to a driver's intention to brake via a brake pedal and/or wheel slip. For example, the electronic brake control module 31 may temporarily release braking of the wheels (anti-lock brake system, ABS) in response to wheel slip sensed during braking of the vehicle 1. The electronic brake control module 31 may selectively release braking of the wheels in response to sensed oversteer and/or understeer during steering of the vehicle 1 (electronic stability control, ESC). In addition, the electronic brake control module 31 may temporarily brake the wheels in response to wheel slip sensed during driving of the vehicle 1 (traction control system, TCS).
The electric power steering device 41 may assist the operation of the steering device 40 so that the driver can easily operate the steering wheel in response to the driver's steering intention with the steering wheel. For example, the electric power steering device 41 may assist the operation of the steering device 40 to reduce the steering force at the time of low-speed running or increase the steering force at the time of high-speed running.
The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure the safety of the driver. For example, the body control module 51 may control headlamps, wipers, instrument panels, multifunction switches, turn signals, and the like.
The driver assistance system 100 may assist the driver in operating (driving, braking, steering) the vehicle 1. For example, the driver assistance system 100 may detect the environment (e.g., other vehicles, pedestrians, cyclists, lanes, road signs, etc.) around the vehicle 1 and control the driving and/or braking and/or steering of the vehicle 1 in response to the sensed environment.
The driver assistance system 100 may provide various functions to the driver. For example, the driver assistance system 100 may provide Lane Departure Warning (LDW), Lane Keeping Assistance (LKA), High Beam Assistance (HBA), and automatic emergency braking (LDB), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), Blind Spot Detection (BSD), and the like.
The lane keeping assist system detects a traveling lane and generates an assist steering torque by controlling a steering system 42 provided in the vehicle 1 so that the vehicle 1 does not deviate from the traveling lane.
The driver assistance system 100 includes a camera module 101 configured to acquire image data around the vehicle 1 and a radar module 102 configured to acquire object data around the vehicle 1.
The camera module 101 may include a camera 101a and a controller (electronic control unit, ECU)101b, and may photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, and the like.
The radar module 102 may include a radar 102a and a controller 102b, and may acquire relative positions, relative speeds, etc. of objects (e.g., other vehicles, pedestrians, cyclists, etc.) around the vehicle 1.
The above electronic components can communicate with each other through the vehicle communication network NT. For example, the electronic component may transmit and receive data through ethernet, Media Oriented System Transfer (MOST), Flexray, CAN (controller area network), LIN (local interconnect network), or the like. For example, the driver assistance system 100 may transmit a driving control signal, a braking signal, and a steering signal to the engine management system 11, the electronic brake control module 31, and the electronic power steering apparatus 41, respectively, through the vehicle communication network NT.
Fig. 2 shows a configuration of a driver assistance system according to an embodiment. Fig. 3 shows a camera and a radar included in the driver assistance system according to an embodiment.
Referring to fig. 2, the vehicle 1 may include a braking system 32, a steering system 42, a driver assistance system 100, and a warning device 170.
The braking system 32 may include the electronic brake control module 31 (see fig. 1) and the braking device 30 (see fig. 1) described with reference to fig. 1, and the steering system 42 may include an electronic steering device 41 (see fig. 1) and a steering device 40 (see fig. 1).
Driver assistance system 100 may include a camera 110, a front radar 120, a plurality of angle radars 130, a sensor 150, and a hands-off detector 160.
Referring to fig. 3, the camera 110 may be disposed outside the vehicle 1, particularly facing a field of view 110a forward of the vehicle 1. The camera 110 may be mounted, for example, in the front windshield of the vehicle 1.
The camera 110 may photograph the front of the vehicle 1 and acquire image data in front of the vehicle 1. The image data in front of the vehicle 1 may comprise position information about another vehicle or pedestrian or cyclist or lane located in front of the vehicle 1.
The camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the photodiodes may be arranged in a two-dimensional matrix.
The camera 110 may be electrically connected to the controller 140. For example, the camera 110 may be connected to the controller 140 through a vehicle communication Network (NT), or connected to the controller 140 through a hard wire (hard wire), or connected to the controller 140 through a Printed Circuit Board (PCB). The camera 110 may transmit image data in front of the vehicle 1 to the controller 140.
Referring to fig. 3, the front radar 120 may have a sensing field 120a facing the front of the vehicle 1. The front radar 120 may be mounted on, for example, a grille or a bumper of the vehicle 1.
The front radar 120 may include a transmitting antenna (or a transmitting antenna array) for radiating a transmitting radio wave toward the front of the vehicle 1 and a receiving antenna (or a receiving antenna array) for receiving a receiving radio wave reflected by an object. The front radar 120 may acquire front radar data from a transmission radio wave transmitted by a transmission antenna and a reception radio wave received by a reception antenna. The front radar data may include distance information and speed information about other vehicles or pedestrians or cyclists located in front of the vehicle 1. The front radar 120 may calculate a distance to the object based on a phase difference (or a time difference) between the transmission radio wave and the reception radio wave, and calculate a relative speed of the object based on a frequency difference between the transmission radio wave and the reception radio wave.
Front radar 120 may be connected to controller 140 via, for example, a vehicle communication network NT or a hard wire or printed circuit board. The front radar 120 may send front radar data to the controller 140.
The plurality of angle radars 130 may include: a first corner radar 131 mounted on the front right side of the vehicle 1; a second angle radar 132 installed on the left front side of the vehicle 1; a third angle radar 133 mounted on the right rear side of the vehicle 1; and a fourth corner radar 134 mounted on the left rear side of the vehicle 1.
As shown in fig. 3, the first corner radar 131 may have a sensing field 131a facing the front right side of the vehicle 1. The first angle radar 131 may be mounted, for example, on the right side of a front bumper of the vehicle 1. The second angle radar 132 may have a sensing field 132a facing the left front side of the vehicle 1, and may be mounted, for example, on the left side of the front bumper of the vehicle 1. The third angle radar 133 may have a sensing field 133a facing the rear right side of the vehicle 1, and may be mounted, for example, on the right side of a rear bumper of the vehicle 1. The fourth corner radar 134 may have a sensing field 134a facing the left rear side of the vehicle 1, and may be mounted, for example, on the left side of the rear bumper of the vehicle 1.
Each of the first angle radar 131, the second angle radar 132, the third angle radar 133, and the fourth angle radar 134 may include a transmitting antenna and a receiving antenna. First angle radar 131, second angle radar 132, third angle radar 133, and fourth angle radar 134 may obtain first angle radar data, second angle radar data, third angle radar data, and fourth angle radar data, respectively. The first angle radar data may include distance information and speed information about other vehicles or pedestrians or cyclists (hereinafter, referred to as "objects") located in front of and to the right of the vehicle 1. The second angle radar data may include distance information and speed information of an object located on the left front side of the vehicle 1. The third and fourth corner radar data may include distance information and speed information of objects located on the right rear side of the vehicle 1 and the left rear side of the vehicle 1.
Each of the first corner radar 131, the second corner radar 132, the third corner radar 133 and the fourth corner radar 134 may be connected to the controller 140 through, for example, a vehicle communication network NT or a hard wire or a printed circuit board. The first corner radar 131, the second corner radar 132, the third corner radar 133 and the fourth corner radar 134 may transmit first, second, third and fourth corner radar data, respectively, to the controller 140.
These radars may be implemented as lidar.
Referring back to fig. 2, the vehicle 1 may be provided with various sensors 150 for acquiring behavior data of the vehicle 1. For example, the vehicle 1 may further include a speed sensor for detecting the speed of the wheels, an acceleration sensor for detecting the lateral acceleration and the longitudinal acceleration of the vehicle, a yaw rate sensor for detecting a change in the angular velocity of the vehicle, a gyro sensor for detecting the inclination of the vehicle, a steering angle sensor for detecting the rotation and the steering angle of the steering wheel, and the like.
The behavior data may include the speed, longitudinal acceleration, lateral acceleration, steering angle, traveling direction, yaw rate, inclination, and the like of the vehicle 1.
Hands-off detector 160 may detect that the driver has hands-off from the steering wheel. Hands-off detector 160 may sense driver hands-off by measuring capacitance using conductive material disposed on the steering wheel. In addition, the hands-off detector 160 may use various methods to detect driver hands-off. The hands-off detector 160 may determine whether the driver is holding the steering wheel with both hands in a short time and transmit a hands-off detection signal to the controller 140.
The warning device 170 may output a warning message. For example, the warning device 170 may output a warning message regarding hands-off. The warning device 170 may output a warning message including at least one of text, voice, and image. That is, the warning device 170 may include an audio device and/or a display device. The controller 140 determines a hands-off warning point and controls the warning device 170 to output a warning message at the determined warning point.
The controller 140 may include the controller 101b (see fig. 1) of the camera module 101 (see fig. 1) and/or the controller 102b (see fig. 1) of the radar module 102 (see fig. 1) and/or a separate integrated controller.
The controller 140 includes a processor 141 and a memory 142. The controller 140 may include one or more processors 141.
Processor 141 may process image data of camera 110, front radar data of front radar 120, angle radar data of plurality of angle radars 130, and behavior data acquired by sensors 150, and may generate control signals for controlling brake system 32, steering system 42, and warning device 170. For example, processor 141 may include: an image signal processor for processing front image data of the front camera 110; and/or a digital signal processor for processing radar data of the radars 120, 130 and behavior data acquired by the sensor 150; and/or a Micro Control Unit (MCU) for generating a Control signal.
The controller 140 may sense or identify objects (e.g., other vehicles, pedestrians, cyclists, etc.) in front of the vehicle 1 based on the front image data of the camera 110 and the front radar data of the front radar 120.
In detail, the controller 140 may acquire position information (distance and direction) and speed information (relative speed) of an object in front of the vehicle 1 based on front radar data of the front radar 120.
The controller 140 may acquire position information (direction) and type information of an object in front of the vehicle 1 (e.g., whether the object is another vehicle, a pedestrian, or a bicyclist) based on front image data of the camera 110.
In addition, the controller 140 may match an object detected through the front image data with an object detected through the front radar data, and may acquire type information, position information, and speed information of the front object of the vehicle 1 based on the matching result.
The controller 140 may acquire position information (distance and direction) and speed information (relative speed) of an object on the side (right front, left front, right rear, left rear) of the vehicle 1 based on the angle radar data of the plurality of angle radars 130.
The memory 142 may store a program for the processor 141 to process various data and a program for the processor 141 to generate a control signal.
In addition, the memory 142 may store image data acquired by the camera 110, radar data acquired by the radars 120, 130, and/or behavior data acquired by the sensor 150, and may store results of processing the data by the processor 141.
The memory 142 may include non-volatile memory, such as flash memory, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), etc., as well as volatile memory, such as S-RAM or D-RAM.
The one or more processors 141 included in the controller 140 may be integrated on one chip or may be physically separated. In addition, the processor 141 and the memory 142 may be implemented as a single chip.
The controller 140 may identify an object outside the vehicle 1 by processing image data acquired by the camera 110.
In addition, the controller 140 may identify the type of the object. Objects external to the vehicle 1 may include lanes, curbs, guardrails, structures on the road (e.g., center divider), surrounding vehicles, obstacles on the driving lane, pedestrians, and the like.
The controller 140 may obtain position information of the object. The position information of the object may include at least one of a current position of the object, a distance to the object, a moving speed of the object, and an expected moving path of the object. In identifying the moving object, the controller 140 may detect a moving speed of the object and predict a moving path of the object based on a current position of the object and a predicted position after a predetermined time.
In addition, the controller 140 may process the image data to detect curved road segments, shoulders, slopes of the road, and the like. A slope of a road is a concept including terrain discontinuous with a lane (e.g., a steep slope or a cliff). The controller 140 may process the image data to calculate the curvature of the road ahead.
Referring to fig. 4 and 5, a method of adjusting the hands-off warning point according to driving conditions will be described in detail.
Fig. 4 and 5 are flowcharts illustrating a control method of the driver assistance system according to an exemplary embodiment.
Referring to fig. 4, the controller 140 may operate the driver assistance system 100 (401). For example, the controller 140 may operate a lane keeping assist system or a lane following assist system.
When operation of the driver assistance system 100 begins, the hands-off detector 160 detects (402) that the driver hands off from the steering wheel. The hands-off detector 160 may determine whether the driver holds the steering wheel with both hands and transmit a hands-off detection signal to the controller 140 in a short time (e.g., 0.1 second).
The controller 140 may process image data obtained by the camera 110, radar data obtained by the radars 120 and 130, and behavior data obtained by the sensor 150 to determine the driving condition of the vehicle 1.
In detail, the controller 140 may detect the position of the vehicle 1 in the lane based on the image data. The controller 140 may calculate the distance the vehicle 1 is spaced from the center of the lane and the distance the vehicle 1 is spaced from the left lane and/or the right lane.
In addition, the controller 140 may calculate the reliability of the lane based on the image data. The reliability of the lane is an indicator of the clarity of the two lanes. The controller 140 may calculate the reliability of the lane by using the correlation data between the definition of the lane and the reliability of the lane, which is previously stored in the memory 142. For example, the reliability of the lane may correspond to zero when the lane is not present, and may correspond to 10 when the lane is clearly detected above a predetermined reference definition.
The controller 140 may calculate a risk of collision with an external object based on the radar data. The controller 140 may calculate a time-to-collision (TTC), which is a time until a collision between the vehicle 1 and the preceding object, based on the position information (distance) and the velocity information (relative velocity) of the preceding object.
The controller 140 may determine a risk of collision with the external object based on the collision time. For example, it may be determined that the collision risk is 30% when the collision time is 5 seconds and 80% when the collision time is 2 seconds. These numerical values are exemplary and not limited thereto.
In addition, the controller 140 may calculate a collision Distance (DTC) based on the speed information (relative speed) of the front object. The controller 140 may calculate the collision risk based on the comparison between the collision distance and the distance to the front object.
The controller 140 may process the behavior data to calculate the behavior safety of the vehicle 1. When the behavior data is outside the predetermined safety range, the controller 140 may determine that the behavior safety degree is low. For example, the controller 140 may calculate a low-level behavior safety level when the yaw rate variation amount, the lateral acceleration variation amount, and the longitudinal acceleration variation amount included in the behavior data each exceed a predetermined variation amount for a predetermined time.
The data relating between the behavior data and the behavior security may be stored in the memory 142 in advance.
The controller 140 may determine the driving situation based on at least one of a position of the vehicle 1 in the lane, reliability of the lane, a risk of collision with an external object, and behavioral safety of the vehicle 1.
The controller 140 may determine whether the driving condition satisfies a warning point delay condition and determine whether the driving condition satisfies a warning point shortening condition.
When the hands-off detector 160 detects hands-off, the controller 140 may determine a hands-off warning point based on the driving conditions (403). The controller 140 may control the warning device 170 to output a hands-off warning message at the determined warning point.
Referring to fig. 5, the controller 140 may receive a hands-off detection signal from the hands-off detector 160 (501).
The controller 140 determines a driving situation based on at least one of a position of the vehicle 1 in the lane, reliability of the lane, a risk of collision with an external object, and behavioral safety of the vehicle 1, and determines whether the driving situation satisfies a warning point delay condition or a warning point shortening condition (502, 504).
The controller 140 may determine that the warning point delay condition is satisfied when the vehicle 1 is located within a predetermined distance from the center of the lane, the reliability of the two lanes is greater than a predetermined reliability, the risk of collision with an external object is less than a predetermined risk, and the curvature of the road ahead is less than a predetermined curvature.
When the warning point delay condition is satisfied, the controller 140 may determine the delay time. In addition, the controller 140 may adjust the delay time based on at least one of the current speed and the distance to the external object. The maximum delay time may be set to two minutes from a predetermined reference warning point. Here, the predetermined reference warning point may be defined as a point of time at which 12 seconds have elapsed since the hands-off was detected. The delay time is illustrative and not limited thereto.
The controller 140 may determine a time point delayed by a delay time from a predetermined reference warning point as a hands-off warning point and control the warning device 170 to output a warning message (503).
The controller 140 may determine that the warning point shortening condition is satisfied in at least one of when the vehicle 1 is located outside a predetermined distance from the center of the lane, when the reliability of at least one of the two lanes is less than a predetermined reliability, when the risk of collision with an external object is greater than a predetermined risk, when the curvature of the road ahead exceeds a predetermined curvature, and when the behavior data of the vehicle is outside a predetermined safety range.
When the warning point shortening condition is satisfied, the controller 140 may determine a shortening time. The controller 140 may determine the shortening time differently for each warning point shortening condition. That is, the controller 140 may differently determine the shortening time for each condition when the vehicle is located outside a predetermined distance from the center of the lane, when the reliability of at least one of the two lanes is less than a predetermined reliability, when the risk of collision with an external object exceeds a predetermined risk, when the curvature of the road at the present side is greater than or equal to a predetermined curvature, and when the behavior data of the vehicle is outside a predetermined safety range. For example, when the reference warning point is 12 seconds, the shortening time may be determined to be 9 seconds, 5 seconds, 10 seconds, 7 seconds, 11 seconds in each case.
The controller 140 may determine a time point earlier than a predetermined reference warning point by a shortened time as a hands-off warning point, and may control the warning device 170 to output a warning message (505).
If the driving condition does not correspond to the warning point delay condition or the warning point shortening condition, the controller 140 may control the warning device 170 to output a hands-off warning message at the reference warning point (506).
As described above, according to the driver assistance system and the control method thereof, a hands-off warning message can be provided to the driver by adjusting the hands-off warning point according to the driving situation.
That is, even when hands-off is detected, if the driving situation is a safe situation, the hands-off warning point may be suspended, thereby reducing fatigue that the driver may feel due to the warning.
Conversely, when the hands-off driving situation is detected as an unstable situation, safety can be increased by shortening the hands-off warning point.
Therefore, driver satisfaction may also be increased and reliability of autonomous driving may be increased. In addition, driving safety can be improved.
The present disclosure as described above may be implemented as computer readable codes in a medium in which a program is recorded. The computer-readable medium includes all types of recording devices that can be read by a computer system and store data.
Examples of the computer readable medium include a Hard Disk Drive (HDD), a Solid State Disk (SSD), a Silicon Disk Drive (SDD), a Read Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, and may also include things implemented in the form of carrier waves (e.g., transmission through the internet).
The above description and drawings provide examples of the technical concept of the present disclosure for illustrative purposes only. Those of ordinary skill in the art to which the present disclosure pertains will recognize that various modifications and changes in form, such as combination, separation, substitution, and change in configuration, may be made without departing from the essential characteristics of the present disclosure. Therefore, the disclosed embodiments of the present disclosure are intended to illustrate the scope of the technical concept of the present disclosure, and the scope of the present disclosure is not limited by the embodiments.
Description of the symbols:
1: vehicle with a steering wheel
100: driver assistance system
110: front camera
120: front radar
130: multi-angle radar
131: first angle radar
132: second angle radar
133: third angle radar
134: fourth angle radar
140: controller
150: sensor with a sensor element
160: hands-off detector
170: warning device
Cross Reference to Related Applications
The present application is based on and claims the priority of korean patent application No.2019-0034975, filed on 27.3.2019, the disclosure of which is incorporated herein by reference.

Claims (20)

1. A driver assistance system, comprising:
a camera configured to acquire image data by photographing an outside of a vehicle;
a radar configured to acquire radar data regarding an object external to the vehicle;
a sensor configured to acquire behavior data of the vehicle;
a hands-off detector configured to detect that a driver hands off from a steering wheel; and
a controller configured to determine a driving condition of the vehicle by processing the image data acquired by the camera, the radar data acquired by the radar, and the behavior data acquired by the sensor, and determine a release warning point based on the driving condition when release is sensed by the release detector.
2. The driver assistance system according to claim 1, wherein the controller determines whether the driving situation satisfies the warning point delay condition, determines a delay time when the warning point delay condition is satisfied, and determines a time point delayed by the delay time from a predetermined reference warning point as the hands-off warning point.
3. The driver assistance system according to claim 2, wherein the controller determines that the warning point delay condition is satisfied when the vehicle is located within a predetermined distance from a lane center, reliability of two lanes is greater than predetermined reliability, a risk of collision with an external object is less than predetermined risk, and curvature of a road ahead is less than predetermined curvature.
4. The driver assistance system according to claim 2, wherein the controller adjusts the delay time based on at least one of a current speed and a distance to an external object.
5. The driver assistance system according to claim 1, wherein the controller determines whether the driving situation satisfies a warning point shortening condition, determines a shortening time when the warning point shortening condition is satisfied, and determines a time point that is earlier than a predetermined reference warning point by the shortening time as the hands-off warning point.
6. The driver assistance system according to claim 5, wherein the controller determines that the warning point shortening condition is satisfied in at least one of: when the vehicle is located outside a predetermined distance from a lane center, when a reliability of at least one of two lanes is less than a predetermined reliability, when a risk of collision with an external object is greater than a predetermined risk, when a curvature of a road ahead exceeds a predetermined curvature, and when the behavior data of the vehicle is outside a predetermined safety range.
7. The driver assistance system according to claim 5, wherein the controller determines the shortening time differently for each of the warning point shortening conditions.
8. The driver assistance system as claimed in claim 1, further comprising warning means for outputting a warning message, and
wherein the controller controls the warning device to output a hands-off warning message at the determined warning point.
9. The driver assistance system according to claim 8, wherein the warning device outputs the warning message including at least one of text, voice, and image.
10. The driver assistance system according to claim 1, wherein the behavior data includes a yaw-rate change amount, a lateral acceleration change amount, and a longitudinal acceleration change amount.
11. A method of controlling a driver assistance system, the method comprising the steps of:
photographing an exterior of a vehicle to acquire image data;
obtaining radar data regarding an object external to the vehicle;
acquiring behavior data of the vehicle;
detecting a driver releasing his hands from a steering wheel;
determining a driving condition of the vehicle by processing the image data, the radar data, and the behavior data; and
when a hands-off is sensed, a hands-off warning point is determined based on the driving condition.
12. The control method of the driver assistance system according to claim 11, wherein the step of determining the hands-off warning point includes the steps of: determining whether the driving condition satisfies a warning point delay condition; determining a delay time when the warning point delay condition is satisfied; and determining a time point delayed from a predetermined reference warning point by the delay time as the hands-off warning point.
13. The control method of the driver assistance system according to claim 12, wherein the step of determining whether the driving situation satisfies a warning point delay condition includes the steps of: determining that the warning point delay condition is satisfied when the vehicle is located within a predetermined distance from a center of a lane, a reliability of the two lanes is greater than a predetermined reliability, a risk of collision with an external object is less than a predetermined risk, and a curvature of a road ahead is less than a predetermined curvature.
14. The control method of the driver assistance system according to claim 12, wherein the step of determining the delay time includes the steps of: adjusting the delay time based on at least one of a current speed and a distance to an external object.
15. The control method of the driver assistance system according to claim 11, wherein the step of determining the hands-off warning point includes the steps of: determining whether the driving condition satisfies a warning point shortening condition; determining a shortening time when the warning point shortening condition is satisfied; and determining a time point that is earlier than a predetermined reference warning point by the shortening time as the hands-off warning point.
16. The control method of the driver assistance system according to claim 15, wherein the step of determining whether the driving situation satisfies a warning point shortening condition includes the steps of: determining that the warning point shortening condition is satisfied in at least one of: when the vehicle is located outside a predetermined distance from a lane center, when a reliability of at least one of two lanes is less than a predetermined reliability, when a risk of collision with an external object is greater than a predetermined risk, when a curvature of a road ahead exceeds a predetermined curvature, and when the behavior data of the vehicle is outside a predetermined safety range.
17. The control method of the driver assistance system according to claim 15, wherein the step of determining the shortened time includes the steps of: the shortening time is determined differently for each of the warning point shortening conditions.
18. The method of controlling a driver assistance system according to claim 11, further comprising the steps of: and outputting the hands-off warning message at the determined warning point.
19. The control method of the driver assistance system according to claim 18, wherein the warning message includes at least one of text, voice, and an image.
20. The control method of the driver assistance system according to claim 11, wherein the behavior data includes a yaw rate change amount, a lateral acceleration change amount, and a longitudinal acceleration change amount.
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